相关论文: Multi-Robot Patrolling with Sensing Idleness and D…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections. Although many solutions have been proposed that ensure…
In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
Multi-drone surveillance systems offer enhanced coverage and robustness for pedestrian tracking, yet existing approaches struggle with dynamic camera positions and complex occlusions. This paper introduces MATRIX (Multi-Aerial TRacking In…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
Multiple Object Tracking (MOT) focuses on modeling the relationship of detected objects among consecutive frames and merge them into different trajectories. MOT remains a challenging task as noisy and confusing detection results often…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
The deployment of robot assistants in large indoor spaces has seen significant growth, with escorting tasks becoming a key application. However, most current escorting robots primarily rely on navigation-focused strategies, assuming that…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…